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<h1>examples/SIFTGPU/realTime/realTime.cpp</h1><a href="realTime_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> *      Copyright (C) 2011, 2012. PARP Research Group.</span>
<a name="l00003"></a>00003 <span class="comment"> *      &lt;http://perception.inf.um.es&gt;</span>
<a name="l00004"></a>00004 <span class="comment"> *      University of Murcia, Spain.</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> *      This file is part of the QVision library.</span>
<a name="l00007"></a>00007 <span class="comment"> *</span>
<a name="l00008"></a>00008 <span class="comment"> *      QVision is free software: you can redistribute it and/or modify</span>
<a name="l00009"></a>00009 <span class="comment"> *      it under the terms of the GNU Lesser General Public License as</span>
<a name="l00010"></a>00010 <span class="comment"> *      published by the Free Software Foundation, version 3 of the License.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> *      QVision is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> *      but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00015"></a>00015 <span class="comment"> *      GNU Lesser General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> *      You should have received a copy of the GNU Lesser General Public</span>
<a name="l00018"></a>00018 <span class="comment"> *      License along with QVision. If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020 
<a name="l00055"></a>00055 <span class="preprocessor">#include &lt;stdio.h&gt;</span>
<a name="l00056"></a>00056 <span class="preprocessor">#include &lt;stdlib.h&gt;</span>
<a name="l00057"></a>00057 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00058"></a>00058 <span class="preprocessor">#include &lt;QDebug&gt;</span>
<a name="l00059"></a>00059 
<a name="l00060"></a>00060 <span class="preprocessor">#include &lt;QVApplication&gt;</span>
<a name="l00061"></a>00061 <span class="preprocessor">#include &lt;QVVideoReaderBlock&gt;</span>
<a name="l00062"></a>00062 <span class="preprocessor">#include &lt;QVDefaultGUI&gt;</span>
<a name="l00063"></a>00063 <span class="preprocessor">#include &lt;QVImageCanvas&gt;</span>
<a name="l00064"></a>00064 
<a name="l00065"></a>00065 <span class="preprocessor">#include &lt;qvipp.h&gt;</span>
<a name="l00066"></a>00066 <span class="preprocessor">#include &lt;qvsiftgpu.h&gt;</span>
<a name="l00067"></a>00067 
<a name="l00068"></a>00068 <span class="preprocessor">#ifndef DOXYGEN_IGNORE_THIS</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span>
<a name="l00070"></a>00070 <span class="keyword">class </span>SIFTGPUMatcher: <span class="keyword">public</span> <a class="code" href="classQVProcessingBlock.html" title="Base class for Block threads.">QVProcessingBlock</a>
<a name="l00071"></a>00071         {
<a name="l00072"></a>00072         <span class="keyword">private</span>:
<a name="l00073"></a>00073                 <a class="code" href="classQVImage.html">QVImage&lt;uChar, 3&gt;</a> referenceFrame;
<a name="l00074"></a>00074                 QList&lt;QVSIFTFeature&gt; referenceFrameFeatures;
<a name="l00075"></a>00075 
<a name="l00076"></a>00076         <span class="keyword">public</span>:
<a name="l00077"></a>00077                 SIFTGPUMatcher(QString name): <a class="code" href="classQVProcessingBlock.html" title="Base class for Block threads.">QVProcessingBlock</a>(name),
<a name="l00078"></a>00078                         referenceFrame(1,1)
<a name="l00079"></a>00079                         {
<a name="l00080"></a>00080                         addProperty&lt; QVImage&lt;uChar,3&gt; &gt;(<span class="stringliteral">&quot;Actual frame&quot;</span>, inputFlag|outputFlag);
<a name="l00081"></a>00081                         addProperty&lt; QList&lt;QPointF&gt; &gt;(<span class="stringliteral">&quot;Actual features&quot;</span>, outputFlag);
<a name="l00082"></a>00082                         addProperty&lt; QList&lt;QVPolylineF&gt; &gt;(<span class="stringliteral">&quot;Actual features orientations&quot;</span>, outputFlag);
<a name="l00083"></a>00083 
<a name="l00084"></a>00084                         <span class="comment">// Matching with reference frame</span>
<a name="l00085"></a>00085                         addProperty&lt; QVImage&lt;uChar,3&gt; &gt;(<span class="stringliteral">&quot;Matching images&quot;</span>, outputFlag);
<a name="l00086"></a>00086                         addProperty&lt; QList&lt;QPointFMatching&gt; &gt;(<span class="stringliteral">&quot;Matching correspondences&quot;</span>, outputFlag);
<a name="l00087"></a>00087 
<a name="l00088"></a>00088                         <a class="code" href="classQVProcessingBlock.html#a26a8c3ab6758620d7cb328f4dd60b860" title="Adds a trigger to the block.">addTrigger</a>(<span class="stringliteral">&quot;Grab reference frame&quot;</span>);
<a name="l00089"></a>00089                         }
<a name="l00090"></a>00090 
<a name="l00091"></a>00091                 <span class="comment">// Sets the reference frame</span>
<a name="l00092"></a>00092                 <span class="keywordtype">void</span> <a class="code" href="classQVProcessingBlock.html#adb13844954356bd9ed1bfbe97d731095" title="Process trigger activations in the block.">processTrigger</a>(<span class="keyword">const</span> QString triggerName)
<a name="l00093"></a>00093                         {
<a name="l00094"></a>00094                         referenceFrame = getPropertyValue&lt; QVImage&lt;uChar,3&gt; &gt;(<span class="stringliteral">&quot;Actual frame&quot;</span>);
<a name="l00095"></a>00095                         referenceFrameFeatures = <a class="code" href="group__qvsiftgpu.html#ga84ba9885258ee2d66f7a577ea09a4062" title="Find SIFT features in an image using user-specified parameter values, using NVIDIA...">getSiftGPUFeatures</a>(referenceFrame, CUDA_METHOD);
<a name="l00096"></a>00096                         <span class="comment">//setPropertyValue&lt; QVImage&lt;uChar,3&gt; &gt;(&quot;Reference frame&quot;, referenceFrame);</span>
<a name="l00097"></a>00097                         }
<a name="l00098"></a>00098 
<a name="l00099"></a>00099                 <span class="keywordtype">void</span> <a class="code" href="classQVProcessingBlock.html#a0283c799776e0c938538de0b0ae6b463" title="Function to be defined in subclasses with processing code.">iterate</a>()
<a name="l00100"></a>00100                         {
<a name="l00101"></a>00101                         <span class="comment">// Read actual image frame.</span>
<a name="l00102"></a>00102                         <span class="keyword">const</span> <a class="code" href="classQVImage.html" title="Image representation class for the QVision.">QVImage&lt;sFloat,3&gt;</a> actualFrame = getPropertyValue&lt; QVImage&lt;uChar,3&gt; &gt;(<span class="stringliteral">&quot;Actual frame&quot;</span>);
<a name="l00103"></a>00103                         <a class="code" href="classQVProcessingBlock.html#a61f390e8790a77175a6d6e1049a9d127" title="Stablish a performance breakpoint in the execution of the block.">timeFlag</a>(<span class="stringliteral">&quot;Read input image&quot;</span>);
<a name="l00104"></a>00104 
<a name="l00105"></a>00105                         <span class="comment">// Get SIFT features for the actual frame.</span>
<a name="l00106"></a>00106                         <span class="keyword">const</span> QList&lt;QVSIFTFeature&gt; actualFrameFeatures = <a class="code" href="group__qvsiftgpu.html#ga84ba9885258ee2d66f7a577ea09a4062" title="Find SIFT features in an image using user-specified parameter values, using NVIDIA...">getSiftGPUFeatures</a>(actualFrame, CUDA_METHOD);
<a name="l00107"></a>00107                         <a class="code" href="classQVProcessingBlock.html#a61f390e8790a77175a6d6e1049a9d127" title="Stablish a performance breakpoint in the execution of the block.">timeFlag</a>(<span class="stringliteral">&quot;Get SIFT features&quot;</span>);
<a name="l00108"></a>00108 
<a name="l00109"></a>00109                         <span class="comment">// Show SIFT features.</span>
<a name="l00110"></a>00110                         QList&lt;QPointF&gt; points;
<a name="l00111"></a>00111                         QList&lt;QVPolylineF&gt; orientations;
<a name="l00112"></a>00112                         <span class="keywordflow">foreach</span>(QVSIFTFeature feature, actualFrameFeatures)
<a name="l00113"></a>00113                                 {
<a name="l00114"></a>00114                                 <a class="code" href="classQVPolylineF.html" title="Floating point polyline representation.">QVPolylineF</a> orientation;
<a name="l00115"></a>00115                                 orientation &lt;&lt; feature.keypoint.location();
<a name="l00116"></a>00116                                 orientation &lt;&lt; feature.keypoint.location() + 3.0 * ABS(feature.keypoint.scale()) * QPointF(     sin(feature.keypoint.orientation()),
<a name="l00117"></a>00117                                                                                                                                                                                                                                         cos(feature.keypoint.orientation()));
<a name="l00118"></a>00118                                 orientations &lt;&lt; orientation;
<a name="l00119"></a>00119                                 points &lt;&lt; feature.keypoint.location();
<a name="l00120"></a>00120                                 }
<a name="l00121"></a>00121                         setPropertyValue&lt; QList&lt;QPointF&gt; &gt;(<span class="stringliteral">&quot;Actual features&quot;</span>, points);
<a name="l00122"></a>00122                         setPropertyValue&lt; QList&lt;QVPolylineF&gt; &gt;(<span class="stringliteral">&quot;Actual features orientations&quot;</span>, orientations);
<a name="l00123"></a>00123                         <a class="code" href="classQVProcessingBlock.html#a61f390e8790a77175a6d6e1049a9d127" title="Stablish a performance breakpoint in the execution of the block.">timeFlag</a>(<span class="stringliteral">&quot;Show SIFT features&quot;</span>);
<a name="l00124"></a>00124 
<a name="l00125"></a>00125                         <span class="keywordflow">if</span> (referenceFrame.getCols() == 1 and referenceFrame.getRows() == 1)
<a name="l00126"></a>00126                                 <span class="keywordflow">return</span>;
<a name="l00127"></a>00127 
<a name="l00128"></a>00128                         <span class="comment">// Get matchings between actual and reference features.</span>
<a name="l00129"></a>00129                         <span class="keyword">const</span> QList&lt; QPair&lt;int, int&gt; &gt; matchings = <a class="code" href="group__qvsiftgpu.html#gaafeabf762b94906e7ea2ffe8893866e6" title="Match SIFT features between a pair of images using using NVIDIA CUDA.">matchSiftGPUFeatures</a>(actualFrameFeatures, referenceFrameFeatures);
<a name="l00130"></a>00130                         <a class="code" href="classQVProcessingBlock.html#a61f390e8790a77175a6d6e1049a9d127" title="Stablish a performance breakpoint in the execution of the block.">timeFlag</a>(<span class="stringliteral">&quot;Match with reference frame&quot;</span>);
<a name="l00131"></a>00131 
<a name="l00132"></a>00132                         <span class="comment">// Show SIFT matchings.</span>
<a name="l00133"></a>00133                         <span class="keyword">const</span> QPointF offset(referenceFrame.getCols(), 0);
<a name="l00134"></a>00134                         QList&lt;QPointFMatching&gt; matchingCorrespondences;
<a name="l00135"></a>00135                         <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; matchings.count(); i++)
<a name="l00136"></a>00136                                 {
<a name="l00137"></a>00137                                 <span class="keyword">const</span> QPointF   sourcePoint = referenceFrameFeatures[matchings[i].second].keypoint.location(),
<a name="l00138"></a>00138                                                                 destinationPoint = actualFrameFeatures[matchings[i].first].keypoint.location();
<a name="l00139"></a>00139 
<a name="l00140"></a>00140                                 matchingCorrespondences &lt;&lt; <a class="code" href="group__qvmath.html#ga818fe0c689af956cd14431148c879718">QPointFMatching</a>(     sourcePoint,
<a name="l00141"></a>00141                                                                                                                         destinationPoint + offset);
<a name="l00142"></a>00142                                 }
<a name="l00143"></a>00143 
<a name="l00144"></a>00144                         <a class="code" href="classQVImage.html">QVImage&lt;uChar, 3&gt;</a> matchingImages = referenceFrame;
<a name="l00145"></a>00145                         Copy(actualFrame, matchingImages, QPoint(referenceFrame.getCols(), 0));
<a name="l00146"></a>00146                         matchingImages.<a class="code" href="classQVGenericImage.html#ad9134aec495e05f191535c23e8344c77" title="Resets the region of interest of the image.">resetROI</a>();
<a name="l00147"></a>00147 
<a name="l00148"></a>00148                         setPropertyValue&lt; QVImage&lt;uChar,3&gt; &gt;(<span class="stringliteral">&quot;Matching images&quot;</span>, matchingImages);
<a name="l00149"></a>00149                         setPropertyValue&lt; QList&lt;QPointFMatching&gt; &gt;(<span class="stringliteral">&quot;Matching correspondences&quot;</span>, matchingCorrespondences);
<a name="l00150"></a>00150                         <a class="code" href="classQVProcessingBlock.html#a61f390e8790a77175a6d6e1049a9d127" title="Stablish a performance breakpoint in the execution of the block.">timeFlag</a>(<span class="stringliteral">&quot;Show matchings&quot;</span>);
<a name="l00151"></a>00151                         }
<a name="l00152"></a>00152         };
<a name="l00153"></a>00153 
<a name="l00154"></a>00154 <span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> *argv[])
<a name="l00155"></a>00155         {
<a name="l00156"></a>00156         <a class="code" href="classQVApplication.html" title="Main class for QVision applications.">QVApplication</a> app(argc, argv,
<a name="l00157"></a>00157                 <span class="stringliteral">&quot;Example program for QVision library. Performs SIFT feature detection and matching on an input video sequence.&quot;</span>
<a name="l00158"></a>00158                 );
<a name="l00159"></a>00159 
<a name="l00160"></a>00160         SIFTGPUMatcher SIFTMatcher(<span class="stringliteral">&quot;SIFT matcher&quot;</span>);
<a name="l00161"></a>00161 
<a name="l00162"></a>00162         <a class="code" href="classQVVideoReaderBlock.html" title="This is a generic video input processing block for the QVision architecture.">QVVideoReaderBlock</a> videoReader(<span class="stringliteral">&quot;Video&quot;</span>);
<a name="l00163"></a>00163         videoReader.linkProperty(&amp;SIFTMatcher,<span class="stringliteral">&quot;Actual frame&quot;</span>);
<a name="l00164"></a>00164 
<a name="l00165"></a>00165         <a class="code" href="classQVDefaultGUI.html" title="Main user interface widget for QVision applications.">QVDefaultGUI</a> interface;
<a name="l00166"></a>00166 
<a name="l00167"></a>00167         <span class="comment">// Image canvas for displaying SIFT features.</span>
<a name="l00168"></a>00168         <a class="code" href="classQVImageCanvas.html" title="Display widget for QVImage objects and other data types.">QVImageCanvas</a> actualFrame(<span class="stringliteral">&quot;Actual frame&quot;</span>);
<a name="l00169"></a>00169         SIFTMatcher.linkProperty(<span class="stringliteral">&quot;Actual frame&quot;</span>, actualFrame);
<a name="l00170"></a>00170         SIFTMatcher.linkProperty(<span class="stringliteral">&quot;Actual features&quot;</span>, actualFrame);
<a name="l00171"></a>00171         SIFTMatcher.linkProperty(<span class="stringliteral">&quot;Actual features orientations&quot;</span>, actualFrame);
<a name="l00172"></a>00172         actualFrame.setRadius(<span class="stringliteral">&quot;Actual features&quot;</span>, 2);
<a name="l00173"></a>00173         actualFrame.setColor(<span class="stringliteral">&quot;Actual features orientations&quot;</span>, Qt::blue);
<a name="l00174"></a>00174 
<a name="l00175"></a>00175         <span class="comment">// Image canvas for displaying SIFT matchings.</span>
<a name="l00176"></a>00176         <a class="code" href="classQVImageCanvas.html" title="Display widget for QVImage objects and other data types.">QVImageCanvas</a> referenceFrame(<span class="stringliteral">&quot;Matchings&quot;</span>);
<a name="l00177"></a>00177         SIFTMatcher.linkProperty(<span class="stringliteral">&quot;Matching images&quot;</span>, referenceFrame);
<a name="l00178"></a>00178         SIFTMatcher.linkProperty(<span class="stringliteral">&quot;Matching correspondences&quot;</span>, referenceFrame);
<a name="l00179"></a>00179         referenceFrame.setRadius(<span class="stringliteral">&quot;Matching correspondences&quot;</span>, 2);
<a name="l00180"></a>00180 
<a name="l00181"></a>00181         <span class="keywordflow">return</span> app.exec();
<a name="l00182"></a>00182         }
<a name="l00183"></a>00183 
<a name="l00184"></a>00184 <span class="preprocessor">#endif</span>
</pre></div></div>
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<center><a href="http://perception.inf.um.es/QVision">QVision framework</a>.
<a href="http://perception.inf.um.es">PARP research group</a>.
Copyright &copy; 2007, 2008, 2009, 2010, 2011.</center>
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